3D point cloud to a voxel grid.

[divamgupta]

I have a 3d point cloud of shape ( batch , N , 3+k) where first 3 represent the x,y,z coordinates of the point cloud and k represent the vector of the corresponding point. This point cloud is coming from a neural network. Is there any way to differentiably convert that point cloud to a voxel grid of size ( batch , n_height , n_width , n_depth , k )

Thanks